Deterministic method for obtaining nominal and uncertainty models of CD drives

In this paper a deterministic method for obtaining the nominal and uncertainty models of the focus loop in a CD-player is presented based on parameter identification and measurements in the focus loop of 12 actual CD drives that differ by having worst-case behaviors with respect to various properties. The method provides a systematic way to derive a nominal average model as well as a structured multiplicative input uncertainty model, and it is demonstrated how to apply /spl mu/-theory to design a controller based on the models obtained that meets certain robust performance criteria.